Difference between revisions of "Humble Navigation2 Displays Map 20240928"
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(Created page with "= Relevant Ticket = * [https://github.com/ROBOTIS-GIT/turtlebot3/issues/884 AMCL failing when starting Navigation Simulation #884] johnpenright commented on Jul 5, 2022...") |
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= Relevant Ticket = | = Relevant Ticket = | ||
+ | |||
+ | Search string "descriptions the class differential with base class type nav2_amcl::MotionModel does not exist. Declared types are nav2_amcl::DifferentialMotionModel nav2_amcl::OmniMotionModel" | ||
* [https://github.com/ROBOTIS-GIT/turtlebot3/issues/884 AMCL failing when starting Navigation Simulation #884] | * [https://github.com/ROBOTIS-GIT/turtlebot3/issues/884 AMCL failing when starting Navigation Simulation #884] | ||
Line 15: | Line 17: | ||
However I don't seem to be getting a local costmap, even though rViz is confugured to display one. I'm not seeing any clear errors in the logs. | However I don't seem to be getting a local costmap, even though rViz is confugured to display one. I'm not seeing any clear errors in the logs. | ||
+ | |||
+ | = Fix = | ||
+ | |||
+ | param$ pwd | ||
+ | /opt/ros/humble/share/turtlebot3_navigation2/param | ||
+ | |||
+ | param$ sudo cp waffle.yaml waffle.yaml.org | ||
+ | [1]- Done emacs waffle_pi.yaml | ||
+ | |||
+ | param$ sudo emacs waffle.yaml& | ||
+ | [3] 5401 | ||
+ | |||
+ | param$ diff waffle.yaml waffle.yaml.org | ||
+ | 29c29 | ||
+ | < robot_model_type: "nav2_amcl::DifferentialMotionModel" | ||
+ | --- | ||
+ | > robot_model_type: "differential" | ||
+ | |||
+ | = Status = | ||
+ | |||
+ | There is no local costmap. See above. |
Latest revision as of 22:12, 28 September 2024
Relevant Ticket
Search string "descriptions the class differential with base class type nav2_amcl::MotionModel does not exist. Declared types are nav2_amcl::DifferentialMotionModel nav2_amcl::OmniMotionModel"
johnpenright commented on Jul 5, 2022 So I've made some progress. In the robot param file (waffle_pi.yaml), if I change line 29 from robot_model_type: "differential" to robot_model_type: "nav2_amcl::DifferentialMotionModel"
then rViz will launch and initialize properly.
However I don't seem to be getting a local costmap, even though rViz is confugured to display one. I'm not seeing any clear errors in the logs.
Fix
param$ pwd /opt/ros/humble/share/turtlebot3_navigation2/param param$ sudo cp waffle.yaml waffle.yaml.org [1]- Done emacs waffle_pi.yaml param$ sudo emacs waffle.yaml& [3] 5401 param$ diff waffle.yaml waffle.yaml.org 29c29 < robot_model_type: "nav2_amcl::DifferentialMotionModel" --- > robot_model_type: "differential"
Status
There is no local costmap. See above.